Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
  • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
  • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
  • F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
  • F16D3/202—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints
  • F16D3/205—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part
  • F16D3/2055—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part having three pins, i.e. true tripod joints
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
  • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
  • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
  • F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
  • F16D3/202—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints
  • F16D2003/2026—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints with trunnion rings, i.e. with tripod joints having rollers supported by a ring on the trunnion
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
  • F16D2250/00—Manufacturing; Assembly
  • F16D2250/0023—Shaping by pressure

Definitions

• the invention relates to a tripod joint, comprising an outer joint part with pairs of raceways, a tripod star with radially projecting pins, and rolling elements which are mounted on the pins of the tripod star so as to be rotatable about the longitudinal axis of the respective pin, each rolling element having an outer ring with an outer circumference for rolling along a pair of raceways of the outer joint part, an inner ring whose inner circumference is in contact with one of the journals of the tripod star, and needles which are arranged in an annular space between an outer circumference of the inner ring and an inner circumference of the outer ring around the journal.
• Constant velocity joints are used in sideshafts of motor vehicles in order to transmit the drive torque of a vehicle drive to the vehicle wheels. Not only must angle changes between the vehicle wheels and a vehicle drive be compensated, but length changes must also be compensated.
• the constant velocity joint on the wheel side is therefore usually designed as a fixed joint, whereas the constant velocity joint on the transmission side usually has an axial displacement option.
• the maximum deflection angles of the constant velocity joint on the wheel side are in the order of approx. 45 to 50 degrees, while the maximum deflection angles of the constant velocity joint on the vehicle drive side are significantly smaller at a maximum of approx. 24 degrees.
• Constant velocity joints suitable for the vehicle drive side can be designed, for example, as plunging ball joints or as tripod joints.
• the present invention relates to such tripod joints, which have a better efficiency compared to VL ball plunging joints.
• Tripod joints of the type mentioned above are known, for example, from DE 10 2016 222 521 A1 and DE 10 2009 013 038 A1.
• VL plunging ball joints can be used.
• this is at the expense of efficiency and accordingly implies increased energy consumption, which is problematic in electric vehicles in particular because of the limited battery capacity.
• DE 102020 102 218 A1 discloses a tripod joint in which the needles roll directly on the surface of the pivot of the tripod star, i.e. are in direct contact with it, without the interposition of a rolling element.
• the shape of the pin should be changed from previously cylindrical or circular to, for example, elliptical, considering the cross section of the pin.
• the needles do not roll on the outer circumference of the journal, but rather on an inner part of the rolling element, which in turn is rotatably mounted on the journal.
• the object of the invention is to improve a tripod joint of the type mentioned at the outset for more demanding collective loads.
• the tripod joint according to the invention comprises an outer joint part with pairs of raceways, a tripod star with radially projecting journals, and rolling elements which are mounted on the journals of the tripod star so as to be rotatable about the longitudinal axis of the respective journal, with each rolling element having an outer ring with an outer circumference for rolling along a pair of raceways of the outer joint part , an inner ring having its inner periphery in contact with one of the trunnions of the tripod star, and needles disposed in an annular space between an outer periphery of the inner ring and an inner periphery of the outer ring around the trunnion.
• the inner circumference of the inner ring of the rolling element has a head clearance to the surface of the pin in the direction of rotation of the tripod star to the associated pin, which is reduced to two contact points on the pin on both sides outside the direction of rotation.
• a better force distribution within the joint is achieved via the inner ring supported in this way, which is reflected in an increased service life and/or increased resilience.
• a load acting in the direction of rotation of the tripod star is thus distributed over two areas on either side of the actual direction of rotation, which reduces the stress on the components of the rolling element.
• the maximum Hertzian pressures in the tripod joint are reduced.
• a contact angle at the contact points is preferably in a range from 5° to 35°.
• the contact angle of a contact point on the pin in a plane perpendicular to the longitudinal axis of the pin is defined as the angle between a straight line through a contact point and the point of penetration of the longitudinal axis of the pin through said plane with a straight line in the direction of rotation of the tripod star through the point of penetration of the longitudinal axis of the pin through said level.
• the contact angle of the two contact points can be different in absolute terms. However, preference is given to a contact angle which is of the same magnitude for both contact points on both sides of the direction of rotation.
• the contact points are ideally points in a cross-sectional plane perpendicular to the longitudinal axis of the spigot, but actually extend over certain arcuate sections of the surface of the spigot in the direction around the longitudinal axis of the same.
• the center of such an arc section can be considered as a relevant contact point.
• the head clearance KS between the inner ring of the rolling element and the outer circumference of the journal at its point pointing in the direction of rotation is determined as follows:
• Ks KSF * a 1 1000 where KS is taken as a value in mm, a is the largest existing contact angle of the two contact points in degrees and KSF is a value from 1 to 8.
• the surface of the pin is flattened in cross-section on its side pointing in the direction of rotation between the two contact points in order to provide the head play.
• a flattening can be obtained very easily in terms of production technology, for example by a material-removing post-processing of the pins of the tripod star.
• the flattening can be a level surface on the surface of the pin.
• the surface of the spigot has a curved section in cross section between the two contact points, the radius of which is greater than the distance between the contact points and the longitudinal axis of the spigot. Compared to a leveled surface, the required material removal is lower here. In addition, a smooth transition into the curved section has a favorable effect on the mounting of the inner ring on the journal.
• the curved section merges tangentially into two generating circles for the contact points, which each touch a base circle tangentially at the associated contact point, the radius of the generating circles being smaller than the amount of the radius of the curved section. This allows easy creation of the desired head clearance.
• the curved section is preferably convex, i.e. curved outwards, resulting in particularly low maximum Hertzian pressures in the tripod joint.
• a concave configuration is also possible. Although this reduces the stress on the needles, it leads to higher Hertzian pressures compared to a convex design.
• the outer circumference of the inner ring is circular-cylindrical in the area of contact with the needles. This promotes an even distribution of force over the needles, starting from the two contact points, which significantly reduces the maximum load on the needles.
• the surface of the pin is convexly curved in a longitudinal section plane which contains the longitudinal axis of the respective pin. This allows the axis of rotation of the rolling element to be pivoted relative to the longitudinal axis of the associated pin when the tripod joint bends, ie the axis of rotation of the tripod star is angled relative to the axis of rotation of the outer joint part.
• the above-mentioned object is also achieved by a method for producing a tripod joint according to patent claim 12, in which the tripod star is produced by forming.
• the method is characterized in that the tripod star is produced by forming by means of a split mold, the tool parting plane of which is spanned in the area of the trunnion of the tripod star by the longitudinal axis of the respective trunnion and the axis of rotation of the tripod star, with the trunnion already being included in the forming process is provided with a non-circular cross-section in a sectional plane perpendicular to the longitudinal axis of the pin, which forms a flattening in the direction of rotation of the tripod star.
• the contour of the pin can be finish-formed, at least in the area of the head clearance, but preferably in its entirety, so that the manufacturing effort remains particularly low.
• the contour of the journal can be subjected to calibrating post-processing if necessary.
• a calibrating post-processing can be a material-removing hard processing.
• the contact area is preferably calibrated by forming, which results in the final head clearance.
• expensive material-removing hard machining can be completely dispensed with.
• higher process reliability is achieved with a forming calibration compared to calibrating hard machining with material removal, since any contour misalignment between the raw part and the finished part during forming can be practically ruled out compared to hard machining.
• the above-mentioned object is also achieved by a method for producing a tripod joint according to patent claim 15, in which the tripod star is produced by forming, the production of the tripod star by forming using a split mold and the axis of rotation (A) of the Tripod star is perpendicular to the mold parting plane.
• the contour of the journal is produced by material-removing post-processing, at least in the area of the head clearance.
• FIG. 1 shows a sectional view of an embodiment of a tripod joint according to the invention perpendicular to the axes of rotation A and B of the tripod star and joint outer part with the tripod joint extended,
• Figure 2 shows a cross-sectional view through a pivot and a rolling element perpendicular to the longitudinal axis of the pivot, which in an unbent position coincides with the axis of rotation of the rolling element,
• FIG. 3 shows a longitudinal sectional view through a rolling element, the sectional plane coinciding with an axis of rotation of the rolling element
• Figure 4 is a three-dimensional representation of the tripod star
• Figure 5 is a schematic representation analogous to Figure 2 to illustrate the head clearance of the inner ring on the journal of a tripod star and the contact angle of the inner ring,
• FIG. 6 shows a first variant for producing a curved section on the surface of the pin between the contact points
• FIG. 7 shows a second variant for producing a curved section on the surface of the pin between the contact points
• FIG. 8 shows a representation to illustrate the technical forming production of a pin
• Figure 9 shows an illustration of main contact areas next to the direction of rotation of the tripod star and an intermediate secondary contact area in the direction of rotation of the tripod star, as well as in FIG. 10 shows a further representation to illustrate the production of a pin by forming and the division of the contact points into separate contact islands.
• FIG. 1 shows a possible exemplary embodiment of a tripod joint 1 according to the invention, which can be used, for example, in a side shaft of a motor vehicle as a constant velocity joint on the drive side.
• the tripod joint 1 comprises an inner joint part in the form of a tripod star 10 with an axis of rotation A and an outer joint part 20 with an axis of rotation B. Pairs of raceways 21 are formed on the outer joint part, in which the inner joint part is guided axially, i.e. in the direction of the axis of rotation B. When the tripod joint is extended, the axes of rotation A and B are aligned. If the tripod joint 1 is bent, however, they enclose a bending angle of 0° with one another.
• the tripod star 10 has a central shaft section 11 and several, preferably three, pins 12 protruding from the shaft section 11 .
• the central shaft section 11 has several, preferably three, pins 12 protruding from the shaft section 11 .
• the pins 12 are arranged in the circumferential direction around the axis of rotation A of the inner joint part or tripod star 10 at the same distance from one another.
• Their longitudinal axes Z run essentially radially to the axis of rotation A and preferably lie in a common plane, as in the exemplary embodiment shown.
• the tripod joint 1 on the tripod star 10 per pin 12 includes a rolling element 13, which on the associated pin 12 of the tripod star 10 about the longitudinal axis Z of the pin
• the journals 12 each have a profiled surface 12a for mounting the rolling elements 13, which will be explained in more detail further below.
• Each of the rolling elements 13 comprises an outer ring 14 and an inner ring 15 as well as rolling bodies 16 arranged between them, so that the outer ring 14 and the inner ring 15 can be rotated in relation to one another.
• the outer ring 14 and the inner ring 15 are preferably designed as rotationally symmetrical components.
• each rolling element 13 can roll with an outer circumference 14a of the outer ring 14 along a pair of raceways 21a, 21b of the outer joint part 20.
• the profile of the outer circumference 14a can be crowned outwards in cross section.
• the raceways 21a and 21b can correspondingly have a concave cross-sectional profile, as can be seen in FIG.
• the inner ring 15 is in contact with the associated pin 12 of the tripod star 10 with its inner circumference 15a.
• the rolling elements are presently designed as needles 16, which are arranged in an annular space 17 between an outer circumference 15b of the inner ring 15 and an inner circumference 14b of the outer ring 14 around the journal 12 and to the outer circumference 15b of the inner ring 15 and the inner circumference 14b of the outer ring 14 each have line contact.
• the inner circumference 15a of the inner ring 15 can be circular-cylindrical.
• inner and outer perimeters are understood to be the relevant surfaces and not dimensions.
• the surface 12a of the pin 12 can have a convex configuration in a longitudinal section plane which contains the longitudinal axis Z of the respective pin 12.
• the inner ring 15 Due to a crowned design of the surface 12a of the pin 12, with which the inner circumference 15a of the inner ring 15 is in contact, the inner ring 15 can be tilted relative to the longitudinal axis Z of the associated pin 12 when the tripod joint 1 bends. In addition, there is an axial displaceability in the direction of the longitudinal axis Z of the pin 12 .
• Displaceability can also be realized in other ways.
• the embodiment shown in Fig. 1 of a rotatable bearing in several directions to enable a wobbling movement is only one possibility for a rolling element 13, which is given for the purpose of illustrating the function of such.
• the outer joint part 20 of the tripod joint 1 already mentioned above has its own engagement section for each rolling element 13 .
• the engagement section is designed, for example, like a sleeve and can have a constant cross-sectional profile over its axial length.
• the engagement section has, on its inner circumference, pairs of raceways 21 running parallel to the axis of rotation B of the outer joint part 20, with raceways 21a and 21b lying opposite one another in the circumferential direction.
• These raceways 21a and 21b are in engagement with the outer circumference 14a of the respective rolling element 13, with one of the raceways 21a being load-bearing and the opposite raceway 21b being relieved, depending on the direction of rotation and the operating situation.
• the raceways 21a and 21b on the outer joint part 20 each run parallel to the axis of rotation B of the outer joint part 20.
• the profiling of both the raceways 21a and 21b on the outer joint part 20 and the outer circumference 14a of the outer rings 14 of the rolling elements 13 has the effect that when the joint 1 rotates with the component axes A and B bending towards one another, the rolling elements 13 rotate axis-parallel to the axis of rotation B of the outer joint part 20 are moved back and forth.
• a degree of pivoting freedom required for this can be provided, for example, between the journals 12 and the inner rings 15 of the rolling elements 13, as has already been explained above.
• Such contact in the sectional plane perpendicular to the longitudinal axis Z of the respective pin 12 on both sides of the direction of rotation D enables the service life of the rolling elements 13 to be increased by equalizing the force distribution in the tripod joint 1. This does not exclude further contact points.
• the two contact points K1 and K2 can extend to the left and right of the direction of rotation D in the longitudinal direction Z of the pin 12 over the surface 12a of the pin 12 pointing to the inner circumference 15a of the inner ring 15, as shown in FIG. 4 by way of example.
• this expansion can also be interrupted in the Z direction, so that for each contact point K1 and K2 there are two or more contact islands K1a, K1b and K2a and K2b spaced apart from one another in the Z direction, as indicated by way of example in FIG is.
• the introduction of force can be further improved, in particular from the point of view of important operating deflection angle ranges.
• the main contact area HK there is a significant increase in power transmission compared to a circular cross-sectional contour.
• the force transmission is significantly reduced, which results in an equalization of the load on the rolling bodies, in this case the needles 16, and their load peaks are significantly reduced.
• FIG. 4 also shows the contact angles a1 and a2 for the two contact points K1 and K2. These two contact angles a1 and a2 are preferably in a range from 5° to 35°.
• the contact angle a1 or a2 of a contact point K1 or K2 on the pin 12 in a plane perpendicular to the longitudinal axis Z of the pin 12 is the angle between a straight line through a contact point and the penetration point P of the longitudinal axis Z through said plane with a straight line in the direction of rotation D of the tripod star 10 through the penetration point P of the longitudinal axis Z through said plane.
• the contact angles a1 and a2 for both contact points K1 and K2 are of the same magnitude. However, designs are also possible in which the contact angles a1 and a2 differ from one another.
• the tip clearance KS is preferably determined as follows depending on the largest existing contact angle a1 and a2 of the two contact points K1 and K2:
• KS is assigned a value in mm, where a is the largest existing contact angle a1 and a2 of the two contact points K1 and K2 in degrees and KSF is also a value from 1 to 8.
• the contact clearance KS can be adjusted by flattening the surface 12a of the pin 12 in cross section on its side pointing in the direction of rotation D between the two contact points K1 and K2 with a circular-cylindrical inner circumference 15a of the inner ring 15 .
• Such a flattening 18 can be obtained, for example, by material-removing machining of the pin 12 in the area between the contact points K1 and K2, as indicated in FIG.
• the flattening 18 can be designed in the cross-sectional plane, for example, as a flat surface or line. However, since this would involve a relatively large amount of material removal, contouring between the profile of such a flat surface or line and an arc of a circle with a constant radius around the longitudinal axis Z is recommended.
• the surface 12a of the pin 12 in cross section between the two contact points K1 and K2 can be formed at least in sections by a curved section H, the radius R3 of which is greater than the distance between the contact points K1 and K1 K2 from the longitudinal axis Z of the pin 12.
• Such a curved section H can, for example, be generated very easily using a base circle K and two generating circles E1 and E2 with radii R1 and R2.
• the generating circles E1 and E2 touch the base circle K tangentially at the contact points K1 and K2.
• S the point of intersection of the angular lines of the contact points K1 and K2 is denoted by S.
• This point of intersection S can coincide with the center point of the base circle K. If the contact angles a1 and a2 are of the same size, the point of intersection S lies on the straight line D in the direction of rotation. If the contact angles a1 and a2 are different, the point of intersection S is offset laterally with respect to the straight line D in the direction of rotation.
• the curved section H can in particular be designed in such a way that it merges tangentially into the two generating circles E1, E2 for the contact points K1, K2.
• the radius R1 and R2 of the generating circles E1 and E2 is smaller than the amount of the radius R3 of the curved section H.
• the cross-sectional shape of the surface 12a of the pins 12 can be circular, for example.
• pins 12 This enables the pins 12 to be produced initially by forming, which is optionally followed by calibrating post-processing, preferably only between the contact points K1 and K2. This is considerably less complex than, for example, free-form milling of the entire surface 12a of a journal 12.
• the pins 12 are preferably produced by forming using a forming tool whose tool parting plane W runs along the longitudinal axis Z and at an angle of 90° to the direction of rotation D, as shown in FIG.
• the flattened area 18 can be produced with little effort, so that no post-processing, or at most only minor post-processing, is necessary in the area thereof.
• the pegs 12 can also first be produced by forming with oversize, which is then followed by hard machining of the peg surface 12a.
• a tool parting plane Wwie in Figure 8 at an angle of 90 ° to Direction of rotation D or in the direction of rotation D, ie perpendicular to the axis of rotation A of the tripod star 10 are provided.
• the curved section H may be convex, i.e. curved outwards. This leads to very low maximum Hertzian pressures in the joint 1 and a low load on the needles 16.
• a head play KS can be provided not only in the load direction, i.e. in the main direction of rotation D of the tripod joint 1, but also in the opposite direction of rotation thereto. This is particularly advisable when a vehicle is not driven in one main direction of travel, but rather in the opposite direction to a not inconsiderable extent. Furthermore, no distinction between a left and right cardan shaft on the vehicle is required. This means that in the exemplary embodiments shown, for each direction of rotation, i.e. direction D and its reverse direction, a flattening 18 is provided between two contact points or groups of contact islands with a corresponding head clearance.
• the invention creates a tripod joint 1 with a rolling element 13 as a structural unit, which withstands demanding collective loads, i.e. can be operated with high loads and/or has a long service life without increasing its external dimensions.
• the tripod star 10 including its journal 12 is produced by forming.
• the surface 12a of the pin 12 is obtained by forming using a forming tool and not, for example, by turning, which is conventionally used for this purpose.
• the pin 12 is thus produced during the production by forming with a cutting plane perpendicular to the longitudinal axis Z of the pin 12 is provided with a non-circular cross-section, which forms a flattened area 18 in the direction of rotation D
• a split mold is used, the mold parting plane W of which is spanned by the longitudinal axis Z of the respective pin 12 and the axis of rotation A of the tripod star 10 in a departure from conventional manufacturing processes in the region of the pin 12 .
• the tool parting plane W thus runs at an angle of 90° to the direction of rotation D. This avoids a degree of parting at the pin 12 being in one of the contact areas NK and HK.
• the surface 12a and thus the contour of the pin 12 is finish-formed at least in the region of the head clearance KS, but preferably in its entirety, so that the manufacturing effort remains particularly low.
• Calibration in terms of forming technology is preferably carried out as cold forming.
• a previously necessary blasting of the formed tripod star blank, for example to remove scaling, can be omitted if necessary.
• the oversize of the tripod star blank 10 in the secondary contact area NK can be selected to be smaller than in the main contact areas HK.
• Transitions which are relevant for the maximum component stresses in pins 12, can be made softer.
• the coordination between the head play KS and the contact points can be carried out more precisely and reliably.
• the surface 12a of the pins 12 is usually hardened.
• the hardening depth can be reduced, since no surface layer by additional chipping is removed. This makes it possible to simplify the hardening process, in particular to shorten it in terms of time, for example.
• a final calibration can be done in two ways.
• a forming calibration is carried out using a forming tool both in the main contact areas HK and in the secondary contact area NK, whereby a higher contour accuracy is achieved than in the first case, so that one can speak of precision calibration here.
• additionally defined functional surface structures can be transferred from the tool to the surface 12a of the journal. These can differ from their surroundings, for example, by a higher or lower surface roughness or other surface refinements, for example in order to influence the supply of lubricant.
• a blank for the tripod star 10 including its pins 12 is first produced by forming.
• the tool parting line W runs transversely to the direction of rotation D, i.e. as in Fig.
• the separating burrs are again in a functionally non-critical area far away from the direction of rotation D.
• the journals 12 are initially produced with oversize, at least partially, on their surfaces 12a that are relevant for the rolling of the rolling elements 13 .
• a flattening and possibly also a bulging of the main contact areas HK can already be formed on the blank.
• the blank for the tripod star 10 is produced in a conventional manner using a mold whose mold parting plane coincides with the direction of rotation D.
• the production of the pin 12 takes place with oversize.
• material-removing hard machining takes place to produce the finished contour of the surface 12a while forming the main and secondary contact areas HK and NK explained above.
• the blank can optionally be produced with the pins 12 already being flattened.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Rolling Contact Bearings (AREA)
• Pivots And Pivotal Connections (AREA)

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Citations (10)

• 2020
  • 2020-10-14 DE DE102020212991.6A patent/DE102020212991A1/de active Pending
• 2021
  • 2021-09-27 WO PCT/EP2021/076461 patent/WO2022078742A1/de active Application Filing
  • 2021-09-27 CN CN202180077132.2A patent/CN116457590A/zh active Pending

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